A Passivity Preserving H-infinity Synthesis Technique for Robot Control. - Daniel Larby; Fulvio Forni (CDC, 2022)

A Generalized Approach to Impedance Control Design for Robotic Minimally Invasive Surgery. - Daniel Larby; Fulvio Forni (CoRR, 2022)

Virtual model control for compliant reaching under uncertainties. - Yi Zhang 121; Daniel Larby; Fumiya Iida; Fulvio Forni (IROS, 2024)

Optimal Virtual Model Control for Robotics: Design and Tuning of Passivity-Based Controllers. - Daniel Larby; Fulvio Forni (CoRR, 2024)

Collaborative Drill Alignment in Surgical Robotics. - Daniel Larby; Joshua Kershaw; Matthew Allen; Fulvio Forni (CoRR, 2025)